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<div class="header">
  <div class="headertitle"><div class="title">motor_def.h</div></div>
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<div class="contents">
<a href="motor__def_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#ifndef MOTOR_DEF_H</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#define MOTOR_DEF_H</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &quot;<a class="code" href="controller_8h.html">controller.h</a>&quot;</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &quot;stdint.h&quot;</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#define LIMIT_MIN_MAX(x, min, max) (x) = (((x) &lt;= (min)) ? (min) : (((x) &gt;= (max)) ? (max) : (x)))</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span></div>
<div class="foldopen" id="foldopen00024" data-start="{" data-end="};">
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="motor__def_8h.html#a306d656c63a2d986e7aff57a0526395d">   24</a></span><span class="keyword">typedef</span> <span class="keyword">enum</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>{</div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    OPEN_LOOP = 0b0000,</div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    CURRENT_LOOP = 0b0001,</div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    SPEED_LOOP = 0b0010,</div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    ANGLE_LOOP = 0b0100,</div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    <span class="comment">// only for checking</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    SPEED_AND_CURRENT_LOOP = 0b0011,</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    ANGLE_AND_SPEED_LOOP = 0b0110,</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    ALL_THREE_LOOP = 0b0111,</div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>} <a class="code hl_enumeration" href="motor__def_8h.html#a306d656c63a2d986e7aff57a0526395d">Closeloop_Type_e</a>;</div>
</div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="keyword">typedef</span> <span class="keyword">enum</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>{</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    FEEDFORWARD_NONE = 0b00,</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    CURRENT_FEEDFORWARD = 0b01,</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    SPEED_FEEDFORWARD = 0b10,</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    CURRENT_AND_SPEED_FEEDFORWARD = CURRENT_FEEDFORWARD | SPEED_FEEDFORWARD,</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>} Feedfoward_Type_e;</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span><span class="comment">/* 反馈来源设定,若设为OTHER_FEED则需要指定数据来源指针,详见Motor_Controller_s*/</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span><span class="keyword">typedef</span> <span class="keyword">enum</span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>{</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    MOTOR_FEED = 0,</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    OTHER_FEED,</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>} Feedback_Source_e;</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span><span class="comment">/* 电机正反转标志 */</span></div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span><span class="keyword">typedef</span> <span class="keyword">enum</span></div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>{</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    MOTOR_DIRECTION_NORMAL = 0,</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    MOTOR_DIRECTION_REVERSE = 1</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>} Motor_Reverse_Flag_e;</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span><span class="comment">/* 反馈量正反标志 */</span></div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span><span class="keyword">typedef</span> <span class="keyword">enum</span></div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>{</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    FEEDBACK_DIRECTION_NORMAL = 0,</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    FEEDBACK_DIRECTION_REVERSE = 1</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>} Feedback_Reverse_Flag_e;</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span><span class="keyword">typedef</span> <span class="keyword">enum</span></div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>{</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    MOTOR_STOP = 0,</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    MOTOR_ENALBED = 1,</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>} Motor_Working_Type_e;</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span><span class="comment">/* 电机控制设置,包括闭环类型,反转标志和反馈来源 */</span></div>
<div class="foldopen" id="foldopen00072" data-start="{" data-end="};">
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="struct_motor___control___setting__s.html">   72</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>{</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    <a class="code hl_enumeration" href="motor__def_8h.html#a306d656c63a2d986e7aff57a0526395d">Closeloop_Type_e</a> outer_loop_type;              <span class="comment">// 最外层的闭环,未设置时默认为最高级的闭环</span></div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <a class="code hl_enumeration" href="motor__def_8h.html#a306d656c63a2d986e7aff57a0526395d">Closeloop_Type_e</a> close_loop_type;              <span class="comment">// 使用几个闭环(串级)</span></div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    Motor_Reverse_Flag_e motor_reverse_flag;       <span class="comment">// 是否反转</span></div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    Feedback_Reverse_Flag_e feedback_reverse_flag; <span class="comment">// 反馈是否反向</span></div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    Feedback_Source_e angle_feedback_source;       <span class="comment">// 角度反馈类型</span></div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    Feedback_Source_e speed_feedback_source;       <span class="comment">// 速度反馈类型</span></div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    Feedfoward_Type_e feedforward_flag;            <span class="comment">// 前馈标志</span></div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>} <a class="code hl_struct" href="struct_motor___control___setting__s.html">Motor_Control_Setting_s</a>;</div>
</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span><span class="comment">/* 电机控制器,包括其他来源的反馈数据指针,3环控制器和电机的参考输入*/</span></div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span><span class="comment">// 后续增加前馈数据指针</span></div>
<div class="foldopen" id="foldopen00086" data-start="{" data-end="};">
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="struct_motor___controller__s.html">   86</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>{</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    <span class="keywordtype">float</span> *other_angle_feedback_ptr; <span class="comment">// 其他反馈来源的反馈数据指针</span></div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="keywordtype">float</span> *other_speed_feedback_ptr;</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="keywordtype">float</span> *speed_feedforward_ptr;</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="keywordtype">float</span> *current_feedforward_ptr;</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    <a class="code hl_struct" href="struct_p_i_d_instance.html">PIDInstance</a> current_PID;</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    <a class="code hl_struct" href="struct_p_i_d_instance.html">PIDInstance</a> speed_PID;</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    <a class="code hl_struct" href="struct_p_i_d_instance.html">PIDInstance</a> angle_PID;</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    <span class="keywordtype">float</span> pid_ref; <span class="comment">// 将会作为每个环的输入和输出顺次通过串级闭环</span></div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>} <a class="code hl_struct" href="struct_motor___controller__s.html">Motor_Controller_s</a>;</div>
</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span> </div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span><span class="comment">/* 电机类型枚举 */</span></div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span><span class="keyword">typedef</span> <span class="keyword">enum</span></div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>{</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    MOTOR_TYPE_NONE = 0,</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    GM6020,</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    M3508,</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    M2006,</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>    LK9025,</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    HT04,</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>} Motor_Type_e;</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span></div>
<div class="foldopen" id="foldopen00116" data-start="{" data-end="};">
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="struct_motor___controller___init__s.html">  116</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>{</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    <span class="keywordtype">float</span> *other_angle_feedback_ptr; <span class="comment">// 角度反馈数据指针,注意电机使用total_angle</span></div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>    <span class="keywordtype">float</span> *other_speed_feedback_ptr; <span class="comment">// 速度反馈数据指针,单位为angle per sec</span></div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span> </div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    <span class="keywordtype">float</span> *speed_feedforward_ptr;   <span class="comment">// 速度前馈数据指针</span></div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <span class="keywordtype">float</span> *current_feedforward_ptr; <span class="comment">// 电流前馈数据指针</span></div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span> </div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>    <a class="code hl_struct" href="struct_p_i_d___init___config__s.html">PID_Init_Config_s</a> current_PID;</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    <a class="code hl_struct" href="struct_p_i_d___init___config__s.html">PID_Init_Config_s</a> speed_PID;</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    <a class="code hl_struct" href="struct_p_i_d___init___config__s.html">PID_Init_Config_s</a> angle_PID;</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>} <a class="code hl_struct" href="struct_motor___controller___init__s.html">Motor_Controller_Init_s</a>;</div>
</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span> </div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span><span class="comment">/* 用于初始化CAN电机的结构体,各类电机通用 */</span></div>
<div class="foldopen" id="foldopen00130" data-start="{" data-end="};">
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="struct_motor___init___config__s.html">  130</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>{</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    <a class="code hl_struct" href="struct_motor___controller___init__s.html">Motor_Controller_Init_s</a> controller_param_init_config;</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    <a class="code hl_struct" href="struct_motor___control___setting__s.html">Motor_Control_Setting_s</a> controller_setting_init_config;</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    Motor_Type_e motor_type;</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    <a class="code hl_struct" href="struct_c_a_n___init___config__s.html">CAN_Init_Config_s</a> can_init_config;</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>} <a class="code hl_struct" href="struct_motor___init___config__s.html">Motor_Init_Config_s</a>;</div>
</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span> </div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span><span class="preprocessor">#endif </span><span class="comment">// !MOTOR_DEF_H</span></div>
<div class="ttc" id="acontroller_8h_html"><div class="ttname"><a href="controller_8h.html">controller.h</a></div></div>
<div class="ttc" id="amotor__def_8h_html_a306d656c63a2d986e7aff57a0526395d"><div class="ttname"><a href="motor__def_8h.html#a306d656c63a2d986e7aff57a0526395d">Closeloop_Type_e</a></div><div class="ttdeci">Closeloop_Type_e</div><div class="ttdoc">闭环类型,如果需要多个闭环,则使用或运算 例如需要速度环和电流环: CURRENT_LOOP|SPEED_LOOP</div><div class="ttdef"><b>Definition</b> motor_def.h:25</div></div>
<div class="ttc" id="astruct_c_a_n___init___config__s_html"><div class="ttname"><a href="struct_c_a_n___init___config__s.html">CAN_Init_Config_s</a></div><div class="ttdef"><b>Definition</b> bsp_can.h:33</div></div>
<div class="ttc" id="astruct_motor___control___setting__s_html"><div class="ttname"><a href="struct_motor___control___setting__s.html">Motor_Control_Setting_s</a></div><div class="ttdef"><b>Definition</b> motor_def.h:73</div></div>
<div class="ttc" id="astruct_motor___controller___init__s_html"><div class="ttname"><a href="struct_motor___controller___init__s.html">Motor_Controller_Init_s</a></div><div class="ttdoc">电机控制器初始化结构体,包括三环PID的配置以及两个反馈数据来源指针 如果不需要某个控制环,可以不设置对应的pid config 需要其他数据来源进行反馈闭环,不仅要设置这里的指针还需要在Motor_C...</div><div class="ttdef"><b>Definition</b> motor_def.h:117</div></div>
<div class="ttc" id="astruct_motor___controller__s_html"><div class="ttname"><a href="struct_motor___controller__s.html">Motor_Controller_s</a></div><div class="ttdef"><b>Definition</b> motor_def.h:87</div></div>
<div class="ttc" id="astruct_motor___init___config__s_html"><div class="ttname"><a href="struct_motor___init___config__s.html">Motor_Init_Config_s</a></div><div class="ttdef"><b>Definition</b> motor_def.h:131</div></div>
<div class="ttc" id="astruct_p_i_d___init___config__s_html"><div class="ttname"><a href="struct_p_i_d___init___config__s.html">PID_Init_Config_s</a></div><div class="ttdef"><b>Definition</b> controller.h:101</div></div>
<div class="ttc" id="astruct_p_i_d_instance_html"><div class="ttname"><a href="struct_p_i_d_instance.html">PIDInstance</a></div><div class="ttdef"><b>Definition</b> controller.h:57</div></div>
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